• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文学位 >Analytical modeling, analysis and robust control of uncertain nonlinear dynamical systems by using sliding mode control (SMC) and quantitative feedback theory (QFT).
【24h】

Analytical modeling, analysis and robust control of uncertain nonlinear dynamical systems by using sliding mode control (SMC) and quantitative feedback theory (QFT).

机译：利用滑模控制（SMC）和定量反馈理论（QFT）对不确定的非线性动力系统进行分析建模，分析和鲁棒控制。

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This dissertation consists of three sections. One of the main goals in this dissertation is to apply a robust control method to design a driver seat of a heavy vehicle to reduce driver fatigue. In the first section (Chapter 2), some of the important nonlinear suspension effects that may help to improve the directional stability of trucks are investigated. A six-degree-of-freedom nonlinear suspension roll model of a heavy truck axle unit is presented. This model includes the effects of nonlinear tire damping, road inclination angle, and variation of suspension angles.; In the second section (Chapter 3), the driver seat vibration, which can lead to driver fatigue, of a heavy truck model is presented in a nonlinear framework. The model consists of a sprung mass, an unsprung mass, and a driver seat. All springs and dampers are considered nonlinear. An external force as a sudden impact on any of the truck-trailer wheels is used to analyze the vibrations of the seat to obtain information on the driver fatigue. The dynamic behavior of the driver seat including the unsprung and sprung masses is illustrated using parameters dependent phase portraits.; A robust control method, combining Sliding Mode Control (SMC) and Quantitative Feedback Theory (QFT), for designing a driver seat of a heavy vehicle to reduce driver fatigue is given in the third section (Chapter 4 and Chapter 5). In addition, this nonlinear mathematical modeling technique is applied to an inverted pendulum (IP) in Chapter 4. These mathematical models are used to analyze the tracking control characteristics, through computer simulations, to demonstrate the effectiveness of the proposed control methodology. Furthermore, three-degree-of-freedom inverted pendulum model is used to experimentally validate the theoretical model and simulations.; In Chapter 5, the SMC is used to track the trajectory of the desired motion behavior of the seat. However, when the system enters into sliding regime, chattering occurs due to switching delays as well as sprung mass vibrations. The chattering is eliminated with the introduction of QFT inside the boundary layer to ensure smooth tracking. Furthermore, this dissertation also partially fulfills the lack of existing nonlinear models for turning trucks.
机译：本文共分三个部分。本文的主要目的之一是采用一种鲁棒的控制方法来设计重型车辆的驾驶员座椅，以减轻驾驶员的疲劳感。在第一部分（第2章）中，研究了一些重要的非线性悬架效应，这些效应可能有助于提高卡车的方向稳定性。提出了重型卡车车轴单元的六自由度非线性悬架侧倾模型。该模型包括非线性轮胎阻尼，道路倾斜角度和悬架角度变化的影响。在第二部分（第3章）中，在非线性框架中介绍了重型卡车模型的驾驶员座椅振动（该振动会导致驾驶员疲劳）。该模型包括一个弹簧悬挂质量，一个非弹簧悬挂质量和一个驾驶员座椅。所有弹簧和阻尼器都被认为是非线性的。使用突然作用在任何一个卡车拖车车轮上的外力来分析座椅的振动，以获得驾驶员疲劳的信息。驾驶员座椅的动态行为包括簧上和簧上的质量，通过参数相关的相图进行说明。第三部分（第4章和第5章）给出了一种鲁棒的控制方法，该方法结合了滑模控制（SMC）和定量反馈理论（QFT），用于设计重型车辆的驾驶员座椅以减少驾驶员疲劳。此外，在第4章中将这种非线性数学建模技术应用于倒立摆（IP）。这些数学模型用于通过计算机仿真来分析跟踪控制特性，以证明所提出的控制方法的有效性。此外，使用三自由度倒立摆模型对理论模型和仿真进行了实验验证。在第5章中，SMC用于跟踪座椅所需运动行为的轨迹。但是，当系统进入滑动状态时，由于切换延迟以及突然的质量振动而发生颤动。通过在边界层内部引入QFT消除了颤动，从而确保了平滑的跟踪。此外，本文还部分地弥补了现有的转向卡车非线性模型的不足。

著录项

  • 作者

    Rajapakse, Nuraj I.;

  • 作者单位

    Southern Methodist University.;

  • 授予单位 Southern Methodist University.;
  • 学科 Engineering Mechanical.; Engineering System Science.
  • 学位 Ph.D.
  • 年度 2006
  • 页码 162 p.
  • 总页数 162
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;系统科学;
  • 关键词

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号